Updated the sidebar for usability's sake

1 files changed, 146 insertions, 0 deletions

diff --git a/frontend/2d/_rigidbody/rigidbody_2.js b/frontend/2d/_rigidbody/rigidbody_2.js
new file mode 100644
index 0000000..4632b11
--- /dev/null
+++ b/frontend/2d/_rigidbody/rigidbody_2.js
@@ -0,0 +1,146 @@
+/// <reference path="../../scripts/jquery-3.5.1.min.js"/>
+/// <reference path="../../_shared/math/vec2.js" />
+/// <reference path="../../_shared/math/mat4.js" />
+/// <reference path="../../_shared/2d/shader.js" />
+/// <reference path="../../_shared/math/circle.js" />
+/// <reference path="../../_shared/2d/program_common.js" />
+
+(function() {
+    function main() {
+        // Define Constants
+        const CIRCLE_RADIUS = 16;
+        const GRAVITY = 9.8;
+    
+        // Retrieve context
+        const lProgramContext = getContext('#rigidbody_2');
+    
+        if (lProgramContext.gl === null) {
+            console.error('Unable to initialize WebGL. Your browser or machine may not support it.');
+            return;
+        }
+    
+        lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
+        lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT);
+    
+        function run() {
+            console.log('Running Rigid Body 2');
+            lProgramContext.load().then(function(pProgramInfo) {
+                const lCircle = circle(lProgramContext.gl, CIRCLE_RADIUS, 30, [
+                        { x: 1, y: 1, z: 0, w: 1 },
+                        { x: 1, y: 0, z: 1, w: 1 },
+                        { x: 0, y: 1, z: 1, w: 1 },
+                        { x: 0, y: 1, z: 0, w: 1 }
+                    ], vec2(lProgramContext.width / 2.0, lProgramContext.height / 2.0));
+    
+                function update(pDeltaTimeSeconds) {
+                    // Same physics updates from part 1
+                    applyForce(vec2(0, -1.0 * (lCircle.mass * GRAVITY)));
+                    const lCurrentAcceleration = scaleVec2(lCircle.force, 1.0 / lCircle.mass);
+                    lCircle.velocity = addVec2(lCircle.velocity, scaleVec2(lCurrentAcceleration, pDeltaTimeSeconds));
+                    lCircle.position = addVec2(lCircle.position, scaleVec2(lCircle.velocity, pDeltaTimeSeconds));
+                    lCircle.force = vec2();
+    
+                    // Angular code starts here
+    
+                    // Retrieve the moment of inertia for our shape (Ours is a circle by default)
+                    const lMomentOfInertia = getMomentOfInertia(lCircle);
+    
+                    // Calculate the angular acceperation (omega = T / I)
+                    const lAngularAcceleration = lCircle.torque / lMomentOfInertia;
+    
+                    // Calculate the rotation in radians
+                    lCircle.rotationVelocity += lAngularAcceleration * pDeltaTimeSeconds;
+                    lCircle.rotationRadians += lCircle.rotationVelocity * pDeltaTimeSeconds;
+                    lCircle.torque = 0;
+    
+                    // Calculate the model as previously, but this time, also rotate it
+                    lCircle.model = rotateMatrix2d(translateMatrix(mat4(), lCircle.position.x, lCircle.position.y, 0), lCircle.rotationRadians);
+                    
+                    // Render Code only
+                    lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
+                    lProgramContext.gl.clearDepth(1.0);
+                    lProgramContext.gl.enable(lProgramContext.gl.DEPTH_TEST);
+                    lProgramContext.gl.depthFunc(lProgramContext.gl.LEQUAL);
+                    lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT | lProgramContext.gl.DEPTH_BUFFER_BIT);
+    
+                    lProgramContext.gl.useProgram(pProgramInfo.program);
+                    lProgramContext.gl.uniformMatrix4fv(pProgramInfo.uniformLocations.projection, false, lProgramContext.perspective);
+                    lProgramContext.gl.uniformMatrix4fv(pProgramInfo.uniformLocations.model, false, lCircle.model);
+    
+                    renderCircle(lProgramContext.gl, pProgramInfo, lCircle);
+                }
+    
+                const TORQUE_MULTIPLIER = 100.0; // TODO: This may be unncessary
+    
+                function applyForce(pForceVector, pPointOfApplication) {
+                    if (pPointOfApplication !== undefined) {
+                        const lOriginToPointOfApp = subVec2(vec2(), pPointOfApplication),   // The point of application is relative to the model (i.e. the center of the circle, not the scene)
+                            lPerpVec = vec2(-lOriginToPointOfApp.y, lOriginToPointOfApp.x); // Retrieve the perpendicular vector
+        
+                        // Calculate the torque from the perp dot (T = r_perp . F)
+                        lCircle.torque += TORQUE_MULTIPLIER * dot2(lPerpVec, pForceVector);
+                    }
+    
+                    lCircle.force = addVec2(lCircle.force, pForceVector);
+                }
+    
+                function cleanup() {
+                    lProgramContext.gl.deleteBuffer(lCircle.buffer);
+                    lProgramContext.gl.deleteProgram(pProgramInfo.program);
+                    lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
+                    lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT);
+                }
+    
+                function reset() {
+                    lExitRequestFunc();
+                    lProgramContext.reset();
+                    $('#rigidbody_2_force_submit_button').unbind('submit').submit(false);
+                }
+    
+                const lExitRequestFunc = requestUpdateLoop(update, cleanup);
+                lProgramContext.stopButton.on('click', reset);
+                $('#rigidbody_2_force_submit_button').submit(function(pEv) {
+                    pEv.preventDefault();
+                    pEv.stopPropagation();
+    
+                    // Read in the force vector from the form
+                    const lForceGroup = $('#rigidbody_2_force_input'),
+                        lPositionGroup = $('#rigidbody_2_position_input');
+    
+                    let lForceVectorX = lForceGroup.find('.vec2_x_input').val(),
+                        lForceVectorY = lForceGroup.find('.vec2_y_input').val();
+    
+                    if (lForceVectorX.length === 0) {
+                        lForceVectorX = 0;
+                    }
+    
+                    if (lForceVectorY.length === 0) {
+                        lForceVectorY = 5000;
+                    }
+    
+                    // Read in the point of application vector from the form
+                    let lPositionGroupX = lPositionGroup.find('.vec2_x_input').val(),
+                        lPositionGroupY = lPositionGroup.find('.vec2_y_input').val();
+    
+                    if (lPositionGroupX.length === 0) {
+                        lPositionGroupX = -Math.sqrt(2) / 2;
+                    }
+    
+                    if (lPositionGroupY.length === 0) {
+                        lPositionGroupY = -Math.sqrt(2) / 2;
+                    }
+    
+                    const lForceVector = vec2(Number(lForceVectorX), Number(lForceVectorY));
+                    const lPointOfApplication = scaleVec2(normalize2(vec2(Number(lPositionGroupX), Number(lPositionGroupY))), lCircle.radius);
+    
+                    applyForce(lForceVector, lPointOfApplication);
+                });
+            });
+        }
+        
+        lProgramContext.playButton.on('click', run);
+        $('#rigidbody_2_force_submit_button').submit(false);
+    }
+    
+    $(document).ready(main);
+})()
\ No newline at end of file